Control input device for interfacing an elongated flexible object with a computer system

ABSTRACT

An apparatus for interfacing an elongated flexible object with an electrical system. The apparatus includes an object receiving portion and a rotation transducer coupled to the object receiving portion adapted to determine the rotational motion of the elongated flexible object when the object is engaged with the object receiving portion and to provide an electromechanical interface between the object and the electrical system. In a preferred embodiment, the rotation transducer includes an actuator and translational transducer to provide a translational electromechanical interface between the object and the electrical system.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a continuation of application Ser. No. 08/344,148 filed Nov. 23,1994, now abandoned, which is a continuation-in-part of U.S. Pat.application Ser. No. 08/275,120, filed Jul. 14, 1994, now U.S. Pat. No.5,623,582, entitled METHOD AND APPARATUS FOR PROVIDING MECHANICAL I/OFOR COMPUER SYSTEMS and naming Louis Rosenberg as an inventor. Thisapplication is incorporated herein by reference in its entirety and forall purposes.

BACKGROUND OF THE INVENTION

1. The Field of the Invention

The present invention relates to human/computer interface input devices,and, more particularly, to computer input devices for simulating medicalprocedures.

2. The Relevant Art

Virtual reality computer systems provide users with the illusion thatthey are part of a "virtual" environment. A virtual reality system willtypically include a computer processor, such as a personal computer orworkstation, specialized virtual reality software, and virtual realityI/O devices such as head mounted displays, pointer gloves,three-dimensional ("3D") pointers and the like. Virtual reality computersystems have been used successfully for training in many fields, such asaviation and vehicle and systems operation. The appeal of using virtualreality computer systems for training relates in part to the ability ofsuch systems to allow neophyte practitioners the luxury of operating ina highly realistic environment and making disastrous mistakes withoutconsequence to the trainee, others or property. Thus, for example, atrainee pilot or automobile driver can learn to fly (or drive) using avirtual reality simulator without concern for accidents that would causedeath and/or property damage in the real world. Similarly, operators ofcomplex systems, e.g., nuclear power plants and weapons systems, cansafely practice a wide variety of training scenarios that would risklife or property if performed in reality.

The advantages of simulation have not gone unnoticed in the medicalfield, which has become increasingly concerned with the costs ofmalpractice and inefficient care management. For example, a virtualreality computer system can allow a doctor-trainee or other humanoperator or user to "manipulate" a scalpel or probe within acomputer-simulated "body", and thereby perform medical procedures on avirtual patient. In this instance, an I/O device as a scalpel or probe.As the "scalpel" or "probe" moves within the body, an image is displayedon the screen of the computer system, and the results of the pointer'smovements are updated and displayed so that the operator can gain theexperience of performing such a procedure without practicing on anactual human being or a cadaver.

For virtual reality systems to provide a realistic (and thereforeeffective) experience for the user, sensory feedback and manualinteraction should be as natural as possible. As virtual reality systemsbecome more powerful and as the number of potential applicationsincreases, there is a growing need for specific human/computer interfacedevices which allow users to interface with computer simulations withtools that realistically emulate the activities being represented withinthe virtual simulation. Such procedures as laparoscopic surgery,catheter insertion, and epidural analgesia should be realisticallysimulated with suitable human/computer interface devices if the doctoris to be properly trained.

While the state of the art in virtual simulation and medical imagingprovides a rich and realistic visual feedback, there is a great need fornew human/computer interface tools which allow users to perform naturalmanual interactions with the computer simulation. For medicalsimulation, there is a strong need to provide doctors with a realisticmechanism for performing the manual activities associated with medicalprocedures while allowing a computer to accurately keep track of theiractions. In addition to tracking a user's manual activity and feedingsuch information to the controlling computer to provide a 3D visualreprestation to the user, a human interface mechanism should alsoprovide force feedback to the user, so the user can obtain realistictactile information as well. Thus an effective human interface not onlyacts as an input device for tracking motion, but also as an outputdevice for producing realistic tactile (haptic) sensations.

There are number of devices that are commercially available forinterfacing a human with a computer for virtual reality simulations.There are, for example, such 2-dimensional input devices such as mice,trackballs, and digitizing tablets. However, 2-dimensional input devicestend to be awkward and inadequate to the task of interfacing with3-dimensional virtual reality simulations. In contrast, a 3-dimensionalhuman/computer interface tool, sold under the trademark Immersion PROBE™is marketed by Immersion Human Interface Corporation of Palo Alto,Calif., allows manual control in 3-dimensional virtual reality computerenvironments. A pen-like stylus allows for dexterous 3-dimensionalmanipulation, and the position and orientation of the stylus iscommunicated to a host computer. The Immersion PROBE has six degrees offreedom which convey spatial coordinates (x, y, z) and orientation(role, pitch, yaw) of the stylus to the host computer.

While the Immersion PROBE is an excellent 3-dimensional interface tool,it may be inappropriate for certain virtual reality simulationapplications. For example, in some of the aforementioned medicalsimulations three or four degrees of freedom for a 3-dimensionalhuman/computer interface tool is sufficient and, often, more desirablethan five or six degrees of freedom because it more accurately mimicsthe real-life constraints of the actual medical procedure.

The application of virtual reality simulation to the operation ofcatheters, and other elongated flexible objects, often require only two,three or four degrees of freedom. In particular, catheters work in alargely two dimensional environment created by the channel into whichthe catheter is inserted, e.g., a vein or artery. The forces to which acatheter is subjected often are simplified compared to other medicalimplements, consisting mainly of drag forces.

Therefore, a less complex virtual reality device is desirable forcertain applications.

SUMMARY OF THE INVENTION

The present invention provides a human/computer interface tool which isparticularly well adapted to simulations requiring between two and fourdegrees of freedom, and especially two degrees of freedom, such as forsimulations of catheter procedures. Thus, it will be appreciated thatthe present invention provides a less complex, more compact, lighterweight, lower inertia and less expensive alternative to a six degree offreedom human/computer interface tool than heretofore available. Inparticular, the present invention includes a means for providing to auser a highly realistic force feedback to produce the sorts of tactilesensations assoicated with catheter procedures.

In one embodiment, the present invention includes an apparatus forinterfacing the motion of an elongated flexible object capable oftranslation and rotation with an electrical system, which apparatusincludes (a) an object receiving portion and (b) a rotation transducercoupled to the object receiving portion, which rotation transducer isadapted to determine rotational motion of the elongated flexible object;thereby providing an electromechanical interface between the elongatedflexible object and the electrical system. An especially preferredembodiment is one wherein the electrical system is a digital electricalsystem.

In a preferred embodiment, the rotation transducer comprises a diskincluding an aperture dimensioned to receive the elongated flexibleobject. The disk is coupled with a hollow shaft that is dimensioned toengagedly receive the object. The hollow shaft includes at least onebend. The shaft may further include at least two substantially parallelsections. In one especially preferred embodiment, the hollow shaftincludes two bends in substantially opposing directions and threesubstantially parallel sections. In still another preferred embodiment,the apparatus of the invention includes an actuator to engage theelongated flexible object and a translation transducer coupled to theobject receiving portion which is adapted to determine translationalmotion of the elongated flexible object.

In a preferred alternative embodiment, a second actuator and a secondtransducer are coupled to the object receiving portion and are disposedbetween the actuator and the translation transducer and the rotationtransducer. In still another alternative embodiment, the apparatus ofthe invention is mounted on a gimbal apparatus including a support and agimbal mechanism having a base, a first portion of which base isrotatably mounted to the support and a second portion of which base isrotatably mounted to the object receiving portion. An actuator andtranslation and rotation transducers are further coupled with the objectreceiving portion. The rotation transducer includes a disk including anaperture dimensioned to receive the elongated flexible object. The diskis coupled with a hollow shaft that is dimensioned to engagedly receivethe object. The hollow shaft includes at least one bend.

In yet another aspect, the present invention includes a human/computerinterface including a shaft receiving portion; an elongated flexibleshaft engaged with the shaft receiving portion having a grip area to begrasped by the operator; a first sensor to detect translational motionof the shaft; and a second sensor to detect rotational motion of theshaft, wherein the second sensor includes a disk including an aperturedimensioned to receive the elongated flexible object. The disk iscoupled with a hollow shaft that is dimensioned to engagedly receive theobject. The hollow shaft includes at least one bend.

These and other advantages of the present invention will become apparentto those skilled in the art upon a reading of the following descriptionsof the invention and a study of the several figures of the drawings.

BRIEF DESCRIPTION OF THBE DRAWINGS

FIG. 1 is an illustration of a computer/human interface system inaccordance with the present invention.

FIGS. 2, 2A and 2B are illustrations of an apparatus for interfacing themotion of an elongated flexible object capable of translation androtation with a computer system. FIG. 2 illustrates an apparatus forinterfacing the motion of an elongated flexible object, includingrotation and translation transducers. FIG. 2A is an illustration of anactuator for engaging an elongated flexible object. FIG. 2B is anillustration of a device for determining the translation of an elongatedflexible object.

FIGS. 3A and 3B illustrate a hollow shaft used for determining therotation of an elongated flexible object. FIG. 3A illustrates a sideview of the shaft, including a depression of depth "D". FIG. 3B is across section of FIG. 3A, taken along the line 3B--3B.

FIGS. 4A and 4B illustrate a second configuration of a shaft used todetermine the rotation of an elongated flexible object. FIG. 4Aillustrates a side view of the shaft, having a bend of depth "D". FIG.4B is an illustration of a cross section taken along line 4B--4B as theshaft is rotated through 360°.

FIGS. 5A, 5B, 5C, 5D, 5E, 5F and 5G illustrate rotation sensors inaccordance with the present invention. FIG. 5A illustrates oneembodiment of a rotational sensor of the invention including a shaftcoupled to a disk. FIG. 5B illustrates a second rotational sensorincluding a disk having an aperture dimensioned to engagedly receive ashaft. FIG. 5C illustrates another rotational sensor embodiment whereina disk includes a key dimensioned to receive a shaft having a flat. FIG.5D illustrates a rotational sensor fixedly coupled to a shaft. FIG. 5E,5F and 5G each illustrate an embodiment of the invention wherein therotation of a shaft is determined using an optical encoder.

FIG. 6 is an illustration of two apparatuses of the invention arrangedin a tandem configuration.

FIG. 7 is an illustration of an apparatus of the invention mounted on agimbal mechanism.

DESCRIPTION OF SPECIFIC EMBODIMENTS

In FIG. 1, a virtual reality system 100 used to simulate a medicalprocedure including a human/computer interface apparatus 102, aelectronic interface 104 and a computer 106 is shown. The illustratedvirtual reality system 100 is directed to a virtual reality simulationof a catheter procedure. The software of the simulation is not a part ofthis invention and thus will not be discussed in any detail. However,such software is commercially available. Suitable software drivers whichinterface such simulation software with computer input/output (I/O)devices are also available commercially, e.g., from Immersion HumanInterface Corporation of Palo Alto, Calif., USA.

A catheter 108 used in conjunction with the present invention ismanipulated by an operator and virtual reality images are displayed on ascreen 110 of the digital processing system in response to suchmanipulations. Preferably, the digital processing system is a personalcomputer or workstation, such as an IBM-PC AT or Macintosh personalcomputer, or a SUN or Silicon Graphics workstation. Most commonly, thedigital processing system is a personal computer which operates underthe MS-DOS operating system in conformance with an IBM PC AT standard.

In addition to a standard catheter 108, the human/interface apparatus102 includes a barrier 112 and a "central line" 114 through which thecatheter is inserted into the body. The barrier 112 is used to representportion of the skin covering the body of a patient. Preferably barrier112 is formed from a mannequin or other life-like representation of abody or body portion, e.g., the torso, arm or leg. Central line 114 isinserted into the body of the patient to provide an entry and removalpoint from the body of the patient for the catheter 108, and to allowthe manipulation of the distal portion of the catheter 108 within thebody of the patient while minimizing tissue damage. Catheter 108 andcentral line 114 are commercially available from sources such as TargetTherapeutics of Fremont, California, USA and U.S. Surgical ofConnecticut, USA. Preferably, the catheter 108 is modified such that theend of the tool (such as any cutting edges) are removed, leaving onlythe handle and the shaft. The end of the catheter tool 108 is notrequired for the virtual reality simulation, and is removed to preventany potential damage to persons or property.

The catheter 108 includes a handle or "grip" portion 116 and a shaftportion 118. The grip portion can be any conventional device used tomanipulate the catheter, or the grip may comprise the shaft portionitself. The shaft portion is an elongated flexible object and, inparticular, is an elongated cylindrical object. The present invention isconcerned with tracking the movement of the shaft portion 118 inthree-dimensional space, where the movement has been constrained suchthat the shaft portion 118 has only two, three or four degrees ofmotion. This is a good simulation of the typical use of a catheter 108in that once the catheter is inserted into a patient, it is limited toabout two degrees of freedom. More particularly, the shaft 118 isconstrained at some point of along its length such that it can move withtwo degrees of freedom within the patient's body.

While the present invention will be discussed with reference to theshaft portion 118 of catheter tool 108, it will be appreciated that agreat number of other types of objects can be used with the method andapparatus of the present invention. In fact, the present invention canbe used with any elongated mechanical object where it is desirable toprovide a human/computer interface with three or four degrees offreedom. Such objects may include catheters, hypodermic needles, wires,fiber optic bundles, screw drivers, pool cues, etc. Furthermore,although the described preferred embodiment of the present inventioncontemplates the use of a elongated cylindrical mechanical object, otherembodiments of the present invention provide a similar human/computerinterface for an elongated mechanical objects which are not cylindricalin shape.

The electronic interface 104 is a part of the human/computer interfaceapparatus 102 and couples the apparatus 102 to the computer 106. Moreparticularly, interface 104 is used in preferred embodiments to couplethe various actuators and sensors contained in apparatus 102 (whichactuators and sensors are described in detail below) to computer 106. Anelectronic interface 104 that is particularly well adapted for thepresent is described in U.S. Pat. application Ser. No. 08/092,974, filedJul. 16, 1993, issued Nov. 19, 1996, as U.S. Pat. No. 5,576,727 andentitled "3-D Mechanical Mouse" which application is assigned to theassignee of the present invention and incorporated herein by referencein its entirety. The electronic interface described therein was designedfor the Immersion PROBE™ 3-D mechanical mouse and has six channelscorresponding to the six degrees of freedom of the Immersion PROBE.However, in the context of the present invention, the electronicinterface 104 requires the use of only two, three or four of the sixchannels, since the present invention is preferably constrained to nomore than two, three or four degrees of freedom.

The electronic interface 104 is coupled to a human/computer interfaceapparatus 120 of the apparatus 102 by a cable 122 and is coupled to thecomputer 106 by a cable 124. In some embodiments of the presentinvention, interface 104 serves solely as an input device for thecomputer 106. In other embodiments of the present invention, interface104 serves solely as an output device for the computer 106. In yet otherembodiments of the present invention, the interface 104 serves as aninput/output (I/O) device for the computer 106.

Apparatus 120 is shown in greater detail at 200 in FIG. 2. Apparatus 200includes an object receiving portion 202 into which an elongatedflexible object 204, such as a catheter, is introduced through aperture205. Elongated flexible object 204 passes through the interior of objectreceiving portion 202, the interior of which receiving portion includesone or more electromechanical transducers coupled with the objectreceiving portion and associated with the elongated flexible object,such as actuator 206 and translation transducer 208. The elongatedflexible object 204 exits the object receiving portion 202 through asecond aperture 209 whereupon the elongated flexible object passesthrough rotational transducer 210 which rotational transducer isrotatably coupled to the object receiving portion.

The object receiving portion 202 is preferably fashioned from a unitarymass of material made from aluminum or some other lightweight material,such as a plastic, that preferably is cast, molded, and/or machined as amonoblock member having the aforementioned actuator, translationtransducer and rotation transducer. The object receiving portion canalso be a housing to which various acutators, transducers and sensorsare coupled.

The terms "associated with", "related to", or the like are meant toindicate that the electromechanical transducer is influenced by orinfluences one of the degrees of freedom of the elongated flexibleobject 204. The electromechanical transducers can be input transducers,in which case they sense motion along a respective degree of freedom andproduce an electrical signal corresponding thereto for input intocomputer 106. Alternatively, the electromechanical transducers can beoutput transducers which receive electrical signals from computer 106that cause the transducers to impart a force on the object in accordancewith their respective degrees of freedom. The electromechanicaltransducers can also be hybrid or bi-directional transducers whichoperate both as sensors and as actuator devices.

A variety of transducers, readily available in the commercial market,are suitable for use in the present invention. For example, if thetransducers are input transducers ("sensors"), such sensors can includeencoded wheel transducers, potentiometers, optical encoders, etc. Outputtransducers ("actuators") include stepper motors, servo motors, magneticparticle brakes, friction brakes, pneumatic actuators, etc. Hybrid orbi-directional transducers often pair input and output transducerstogether, but may also include a purely bi-directional transducer suchas a permanent magnet electric motor/generator.

It should be noted that the present invention can utilize both absoluteand relative sensors. An absolute sensor is one which the angle of thesensor is known in absolute terms, such as with an analog potentiometer.Relative sensors only provide relative angle information, and thusrequire some form of calibration step which provides a referenceposition for the relative angle information. The sensors describedherein are primarily relative sensors. In consequence, there is animplied calibration step after system power-up wherein the shaft isplaced in a known position within the gimbal mechanism and a calibrationsignal is provided to the system to provide the reference positionmentioned above. All angles provided by the sensors are thereafterrelative to that reference position. Such calibration methods are wellknown to those skilled in the art and, therefore, will not be discussedin any great detail herein.

In a preferred embodiment, actuator 206 is a solenoid comprising abase/sensor portion 212 to which is coupled a lower interface 214 by ashaft 216. The lower interface portion 214 engages elongated flexibleobject 204 against upper interface portion 218 by applying a force in adirection substantially perpendicular to the direction of translation ofthe elongated flexible object 204, which direction is indicated by thelinear bi-directional arrow, to produce thereby a frictional force alongthe direction of translation of the object 204. Such solenoids areavailable commercially from, e.g., Guardian Electric (Woodstock, Ill.,USA). It will be appreciated that other actuator devices may be employedin the invention, e.g., magnetic particle brakes, such as thoseavailable commercially from, e.g., Force Limited (Santa Monica, Calif.,USA). In addition actuator 206 can also be a pneumatic or hydraulicdevice which applies a force to elongated flexible object 204. It willbe appreciated by those of skill in the art that the choice of aelectromechanical, electromagnetic, pneumatic or hydraulic actuator willdepend in part on the response time, cost and complexity of the device.Preferably, the actuator has a response time suitable for realisticsimulations (i.e., a fast response time), a low cost and low complexity.Electromechanical/electromagnetic transducers are preferred as theytypically have a fast response time, low cost are smaller and simplerthan hydraulic and pneumatic devices performing the same or similarfunction.

FIG. 2A illustrates a preferred solenoid embodiment at 238. Solenoid 238includes a base/sensor portion 240 which is coupled with a lowerinterface 242 through a reciprocating shaft 244. Lower interface 242comprises a platform 246 which is coupled with shaft 244 and upon whichplatform is coupled an optional resilient pad 246 and a brake pad 250.Resilient pad 248 comprises a substance which effective to act as ashock absorber, such as rubber, and is optional. Brake pad 250 comprisesa substance which is effective to stop or slow the translational motionof elongated flexible object 204 when the lower interface 242 engagesthe elongated flexible object 204 against upper interface 252. Thematerials appropriate for the optional shock absorber and brake pad willbe apparent to those of skill in the art. Upper interface 252 includes afixed support 254 which may be coupled to the object receiving portionor to the base/sensor 240. To the fixed support 254 is coupled a secondresilient pad 256 and a second brake pad 258, both of which arecomprised of the same materials as resilient pad 246 and brake pad 250.

Referring back to FIG. 2, in a preferred embodiment, translationtransducer 208 includes a wheel 200 which wheel is mounted on a shaft222 coupled to a sensor 224 which sensor is coupled to object receivingportion 202 by a base 226. Translation transducer 208 is adapted todetermine translational motion of elongated flexible object 204 bysensing positions of the elongated flexible object along the directionof translation thereof and producing electrical signals corresponding tothe positions, as illustrated in FIG. 2B. Wheel 220 engages elongatedflexible object 204 with a normal force (downward arrow) such thattranslation of elongated flexible object 204 (indicated by thebi-directional linear arrow) causes rotation of shaft end 247 (indicatedby the bi-directional curved arrow) creating an electrical signal fromsensor 224 (not shown) which is recorded by interface 104 (also notshown). It will be appreciated that translation transducer 208 couldalso be an output transducer (actuator) and apply a frictional brakingforce to elongated object 204 to simulate such effects as dragexperienced by the catheter as the catheter traverses various vessels inthe body. Such transducers are well known in the art and availablecommercially. One preferred transducer is an optical encoder model SImarketed by U.S. Digital of Vancouver, Wash. USA. This transducer is anencoded wheel type input transducer. A preferred output transducer foruse of the present invention is a d.c. motor model 2434.970-50 producedby Maxon of Fall River, Mass. USA. This type of transducer is a servomotor type output transducer.

Referring back to FIG. 2, rotation transducer 210 is rotatably coupledto object receiving portion 202 to determine the rotational motion ofelongated flexible object 204. Rotational transducer 210 includes a disk228 coupled with a hollow shaft 232. Preferably, the disk and hollowshaft are attached, e.g., by gluing or press fitting, to provide asubstantially unitary device. The disk 228 includes an aperture (notshown) dimensioned to receive the elongated flexible object and thehollow shaft is dimensioned to receivably engage the elongated flexibleobject such that disk 228 substantially tracks the rotational motion ofthe elongated flexible object 204; yet provides minimal translationalfriction. As the disk rotates in response to the rotational motion ofthe elongated flexible object, the rotation of the disk is detected bysensor 230, as will be described in greater detail below.

Hollow shaft 232 is illustrated in greater detail in FIG. 3A whichprovides a cut-away view of the elongated object and the hollow shaft at300. Hollow shaft 302 is preferably made from stainless steel. Thehollow shaft is dimensioned to engagably receive elongated object 304with a gap 306 between hollow shaft 302 and elongated flexible object304 sufficient to allow translation of the elongated flexible objectwithout substantial interference from the interior surface of the hollowshaft; yet small enough that the hollow shaft rotates substantiallycontinuously with the elongated flexible object.

Gap 306 is further illustrated in FIG. 3B, a cut-away view taken alongthe line 3B--3B of FIG. 3A, where the size of the gap is denoted "d".Generally d is chosen such that the hollow and shaft and the elongatedflexible object have a tight engaging fit. Preferably the diameter ofthe hollow shaft is between about 120% and about 150% of the diameter ofthe elongated flexible object, i.e., the size of the gap is betweenabout 20% and about 50% of the diameter of the elongated flexibleobject. For example, where the elongated flexible object has a diameterof about 0.02 inches, preferred values for d are between about 0.001inches and about 0.010 inches and, more preferably, between about 0.003inches and about 0.006 inches. The hollow shaft can further includesubstances to increase or decrease the friction between the interiorwall of the hollow shaft and the surface of the elongated flexibleobject. Such substances are known to persons of skill in the art.

Referring back to FIG. 3A, hollow shaft 302 further includes at leastone bend, such as that shown generally at 308, where two bends insubstantially opposite directions are illustrated. In preferredembodiments one or two bends included in the hollow shaft. Preferablythe sections of the hollow shaft on each side of the bend(s) aresubstantially parallel. The bend(s) function to allow the hollow shaftand disk 228 to track the rotational motion of the elongated flexibleobject while offering little impedance to the translational movement ofthe elongated flexible object.

The depth of the bend is denoted by "D". Generally D is chosen such thatthe hollow shaft and elongated flexible object have the desired rotationtracking and translation characteristics. It has been found thatpreferred values for D depend on several factors, including thestiffness of the elongated object and the tightness of fit between thehollow shaft and the elongated flexible object. Stiffer elongatedobjects typically require a smaller value of D to achieve desirablerotation and translation properties for a given gap d than more flexibleobjects having the same value of d. For example, for values of d betweenabout 0.002 and 0.010 inches, D is preferably between about 0.05 andabout 0.20 inches, respectively.

FIG. 4A illustrates a second preferred embodiment of the hollow shaft at400, wherein a single bend 402 is placed in hollow shaft 404, whichhollow shaft includes elongated flexible object 406 and gap 408, todivide the hollow shaft into two substantially parallel sections. FIG.4B illustrates a cut-away view taken along line 4B--4B of FIG. 4A as thehollow shaft and elongated flexible object are rotated through 360°.

FIG. 5A at 500 illustrates a preferred embodiment of rotation transducer210 of FIG. 2. In a preferred embodiment, rotation transducer 500includes a disk 502 rotatably coupled with object receiving portion 504for rotation by hollow shaft 506 and elongated flexible object 508. Thedisk is preferably made from a clear, plastic material and is providedwith a number of dark radial bands 510 near its circumference, such asby printing or silk screening. A photodetector pair 512 including alight source 512a and a detector 512b are positioned on opposing sidesof disk 502 in alignment with the bands 510. As disk 502 rotates aroundan axis A, the bands 510 alternatively allow light emanating from lightsource 512a to impinge or not impinge upon the detector 512b. Theelectronic interface 104, coupled to the photodetector 512 by cable 514,counts the bands 510 as they pass the photodetector 512b to provide asignal on cable 122 to the computer 106 indicating the rotationalposition of the hollow shaft 506 and elongated flexible object 508around axis A. The photodetector may also be provided as two pairs ofphotodetectors to determine the direction of rotation, as is well knownto those skilled in the art of sensor design and described in U.S. Pat.application Ser. No. 08/275,120, issued Apr. 22, 1997, as U.S. Pat. No.5,623,582.

FIG. 5B illustrates an alternate embodiment of the rotation transducerat 518, wherein disk 520 tracks the rotation of shaft 522 extendingengagably through an aperture 524 in disk 520. The engagement betweenshaft 522 and disk aperture 524 preferably is accomplished by theformation of a frictional seal between the disk aperture and shaft, asdescribed in greater detail in U.S. Pat. application Ser. No.08/275,120, issued Apr. 22, 1997, as U.S. Pat. No. 5,623,582. FIG. 5Cillustrates a second alternate embodiment at 530, wherein disk 532 isengaged with shaft 534 including a flat portion 535, which shaft extendsthrough a key way 536 dimensioned to receivably engage shaft 534 andflat portion 535. This embodiment is also discussed in U.S. Pat.application Ser. No. 08/275,120, issued Apr. 22, 1997, as U.S. Pat. No.5,623,582. Both disks 520 and 532 include dark radial bands near theircircumferences to be used in conjunction with a photodetector asdescribed above.

In yet another alternate preferred embodiment, shown in FIG. 5D at 540,the rotation transducer comprises a disk 542 including a sleeve 544dimensioned to receive and fixedly hold an end portion 548 of shaft 546.The sleeve is rotatably coupled to a bearing 550 which bearing iscoupled to a wall of the object receiving portion. Disk 542 ispreferably provided with a number of dark radial bands near itscircumference, such as by printing or silk screening, for use with anoptical rotation detector as just described. It will be appreciated,however, that this embodiment does not allow translation of shaft 546through disk 542.

Two additional alternative embodiments are described with respect toFIGS. 5E, 5F and 5G. FIG. 5E at 560 illustrates an embodiment whereinobject receiving portion 562, including an actuator and translationtransducer shown generally at 563 and as described above with respect toFIG. 2, contact shaft 564 which shaft is fixedly engaged with a fixedrotary sensor 566, the sensor comprising an optical encoder 568 which iscoupled by a connection 570 to interface 104. Rotational motion at theend of the shaft 564 (see arrow) is sensed by the optical encoder whichtransmits signals to the interface for analysis by computer 106.Translational motion is also accommodated as illustrated in FIG. 5F.There, translation of the wire in the direction of the optical encodercauses buckling of the wire as illustrated by the raised portion of thecurve 572. Translation away form the encoder returns the wire to asubstantially taught, substantially straight, condition as illustratedby the dashed line. Translational motion in either direction is detectedas described above. Optical encoders and their interfacing with computerdevices are known to those of skill in the art. FIG. 5G illustrates analternate embodiment at 580 wherein the object receiving portion 582which fixedly receives shaft 564 is positioned laterally from opticalencoder 586 to thereby create a bend in shaft 584 as indicated at 588.Rotational motion at the distal end of the shaft is sensed at theoptical encoder while translational motion is sensed as described above.The translational motion of the shaft in the direction of the opticalencoder is accommodated by the extension of the bend of the shaft fromthe position shown at 588 (solid line) to 590 (dashed line). Again, theuse of optical encoders is known to those of skill in the art.

In some applications, it will be preferable to link two apparatuses ofthe invention in tandem. For example, in an "epidural" procedure, thephysician or practitioner first inserts a large bore needle into thepatient through which needle a catheter is inserted. Thus, simulation ofan epidural procedure requires simulating independently the responsesassociated with the insertion of the needle and the responses associatedwith the insertion of the catheter.

A preferred tandem configuration for simulating a procedure such as anepidural procedure is shown in FIG. 6 at 600. First and second objectreceiving portions 602 and 604 respectively are placed in an adjoiningconfiguration, indicated by the dashed lines, and are substantiallyidentical to object receiving portion 202 described above with respectto FIG. 2. Both object receiving portions 602 and 604 are adapted toreceive "epidural" device 606, which device includes external shaft 608and elongated flexible object 610 which object can be coupled to anexternal control such as handle 612. Within object receiving portion 602is preferably included actuator 614, which actuator includes abase/sensor 616, a lower interface portion 618 and a shaft 620, inaddition to upper interface portion 622 which is coupled to support 624.Object receiving portion 602 also preferably includes translationtransducer 626, which transducer includes wheel 628 and sensor 630.Similarly, object receiving portion 604 includes preferably actuator632, which actuator includes a base/sensor 634, a lower interfaceportion 636 and a shaft 638, in addition to upper interface portion 640which is coupled to support 642. Object receiving portion 604 alsopreferably includes translation transducer 644, which transducerincludes wheel 646 and sensor 648. The actuators and transducers, andtheir respective components, are all substantially identical to thosedescribed above with respect to FIG. 2.

Object receiving portion 604 is further rotatably coupled to rotationtransducer 650, which transducer includes disk 652 and sensor 654. Disk652 is coupled to hollow shaft 656 which is dimensioned to engagablyreceive elongated flexible object 610. Rotation transducer 650,including disk 652, sensor 654 and hollow shaft 656 are of substantiallyidentical to those analogous components discussed above with respect toFIG. 5A. It will be appreciated that the alternative rotation sensorembodiments discussed above with respect to FIGS. 5B-5G can be used aswell.

In addition to the configuration shown in FIG. 6, a second preferredconfiguration, not shown, is one wherein either actuator 614 ortransducer 626 is omitted. It will also be appreciated that theactuators and transducers may be combined in a single object receivingportion.

In another preferred embodiment, the object receiving portion is part ofa gimbal apparatus as shown at 700 in FIG. 7. In the perspective view ofFIG. 7, the gimbal apparatus 700 of the present invention is illustratedin some detail. The gimbal apparatus 700 preferably includes objectreceiving portion 702, a U-shaped base portion 704 and a support 706.The U-shaped base portion is rotatably coupled to the support andincludes a base 708 and a pair of substantially parallel legs 710a and710b extending upwardly therefrom that are capable of rotation aboutaxis A₁. As used herein, "substantially parallel" will mean that twoobjects or axis are exactly or almost parallel, i.e., the legs are atleast within five or ten degrees of parallel, and are preferably withinless than one degree of parallel. Similarly, the term "substantiallyperpendicular" will mean that two objects or axes are exactly or almostperpendicular, i.e., the legs are at least within five degrees or tendegrees of perpendicular, and, more preferably, within less than onedegree of perpendicular.

The elongated flexible object receiving portion 702 is provided withobject inlet portion 712 which object inlet portion includes an aperture714 extending entirely through the object receiving portion. Theaperture 714 defines an object axis A₀ for an elongated flexible object,such as the shaft portion 118 of the catheter 108 of FIG. 1. The objectinlet portion 712 is at least partially disposed between the legs 710aand 710b of the U-shaped base portion, and is pivotally coupled theretosuch as by a pair of pivots, one of which is shown as pivot 716a in leg710a, which pivot lies on axis A₂ Another pivot 716b (not shown) isprovided in leg 710b. Axes A₁ and A₂ are substantially mutuallyperpendicular and intersect at an origin point O within object inletportion 712. Axis A₀ also intersects this origin O and is substantiallyperpendicular to axes A₁ and A₂.

The object receiving portion 702 also includes a actuator interface 718and a translation interface 719. In some preferred embodiments, a secondactuator interface 720 and a second translation interface 721 may beincluded as shown. The object receiving portion 702 includes a bearingsection 722, an actuator section 724, a translation sensor section 725,and optionally a second actuator section 726 and translation section 727as shown. The object receiving portion also includes rotation sensorsection 728. The bearing section 722 includes a mass of materialprovided with a cylindrical bore 730 forming a portion of the aperture714. The actuator sensor section 724 includes a pair of opposing wallsurfaces 732a and 732b, each of which is provided with a cylindricalbore receptive to the cylindrical object and forming a part of theaperture 714 which extends through the object receiving portion. Thetranslation sensor section 725 includes a pair of opposing wall surfaces734a and 734b of a wall and which are provided with cylindrical boresreceptive to the elongated flexible object and therefore also forming apart of the aperture 714. Optional second actuator sensor section 726and translation section 727 include opposite facing walls 738a and 738band 740a and 740b, respectively, which walls are analogous to the wallsof actuator sensor section 724 and translation sensor section 725 justdescribed. In consequence, when an elongated flexible object is insertedinto the object inlet portion 712 along axis A₀ it engages the bore 730of the bearing section 722, and extends through bores provided in thesurfaces 732a, 732b, 734a, and 734b (and, optionally, surfaces 738a,738b, 740a and 740b) to extend completely through the object receivingportion 702 along the aperture 714. In another embodiment of the presentinvention, walls 735, 746 and 742 are (and therefore their associatedwall surfaces) are eliminated, either singly or in combination, as beingsuperfluous.

The object receiving portion 702 is preferably a unitary mass ofmaterial made from aluminum or some other lightweight material such as aplastic, preferably cast, molded, and/or machined as a monoblock memberhaving the aforementioned bearing section, translation sensory section,and rotation sensory sections. The materials and construction ofU-shaped base portion 704 preferably match the materials andconstruction techniques used for the production of object receivingportion 702.

The gimbal apparatus 700 illustrated in FIG. 7 constrains an object thatis engaged with the object receiving portion 702 to four degrees offreedom. This is accomplished by allowing the U-shaped base portion 704to rotate around an axis A₁ relative to the support 706, by allowing theobject receiving portion 702 to rotate around an axis A₂ relative to theU-shaped base portion 704, by allowing the object to translate asillustrated by the bi-directional arrow "t" along axis A₀ of aperture714, and by allowing the object to rotate as indicated by arrow "r"around the axis A₀ of aperture 714.

Depending on whether one or two actuator/translation sensor pairs areused, as few as four and as many as six electromechanical actuators andtransducers are used in association with these four degrees of freedom.More particularly, a first degree of freedom electromechanicaltransducer 744 is arranged to transduce motion and/or force between theU-shaped base portion 708 and the support 706, a second degree offreedom electromechanical transducer 746 is arranged to transduce motionand/or force between leg 710a of U-shaped base portion 708 and theobject inlet portion 712, a third degree of freedom electromechanicalactuator 748, including lower interface 750 and upper interface 752, isarranged to transduce force between the object receiving portion 702 andan object engaged with the object receiving portion 702, a third degreeof freedom electromechanical transducer wheel 754 and sensor 756 is alsoarranged to transduce motion between the object receiving portion 702and an object engaged with the object receiving portion 702. Optionally,a second third degree of freedom actuator 758, including upper and lowerinterfaces 760 and 762 respectively, and a second third degree offreedom transducer wheel 764 and sensor 766 can be arranged as justdescribed for actuator 748 and translation transducer 756. A fourthdegree of freedom transducer 768, including disk 770, hollow shaft 772and sensor 774 as described above, is engaged between the objectreceiving portion 702 and an object engaged with the object receivingportion 702.

There a number of ways of attaching the actuators and transducers to thevarious members of the gimbal apparatus 700. In this preferredembodiment, a housing of transducer 744 is attached to the U-shaped baseportion 704, and a shaft of the transducer extends through an oversizebore (not shown) in base 708 to engage a press-fit bore (also not shown)in support 706. Therefore, rotation of the U-shaped base portion 704around axis A₁ will cause a rotation of a shaft of transducer 744. Ahousing of transducer 746 is attached to leg 710a of the U-shaped baseportion 704 such that its shaft forms pivot 716a. Therefore, rotation ofthe object receiving portion 702 around axis A₂ will cause a rotation ofthe shaft of a second transducer 746. Actuator sensor 748 is attached toa wall of actuator section 724, and a shaft of the actuator extendsthrough a bore in the wall to connect lower interface 750 to theactuator sensor. Upper interface 752 is fixedly attached to a wall ofactuator section 748. The transducer 756 is attached to object receivingportion 702 and extends through a bore (not shown) in a wall 776 of thetranslation sensor section 725. The shaft of wheel 754 provides the axisfor the translation interface 719 and rotates with the rotation of thetranslation interface 719. Optional actuator section 726 and translationsection 727 are constructed analogously. Disk 770 is rotatable coupledto a wall 778 of rotation sensor section 768 and extends through a bore780 in wall 778. A photodetector 774 is attached to wall 778 and engagesa circumferential surface of disk 770 to sense the rotation thereof.

With reference to all of the Figures, and with particular reference toFIGS. 1 and 7, the shaft 118 of a catheter 108 is inserted into aperture714 along axis A₀, causing the shaft 118 to frictionally engage theactuator interface 718 and the translation interface (wheel) 719. Inthis instance, the translational interface 719 is a friction wheel madeout of a rubber-like material. The shaft 118 is also in engagement withthe rotation interface 768 and extends through hollow shaft 772.Rotation of the shaft 118 around the axis A₀ as illustrated by the arrow"r" will cause a rotation of disk 770 which is registered on sensor 774.A translation of the shaft 118 along axis A₀, however, will not beaffected appreciably by hollow shaft 772 or disk 770, but will cause arotation of the friction wheel 754 which rotates the shaft of thetransducer 756. A movement up or down of the catheter 108 will cause arotation of the shaft (pivot) 716a of transducer 746, and a side-to-sidepivoting of the catheter 108 will cause a rotational about axis A₁ whichis detected by transducer 744.

In an embodiment wherein catheter 108 is an "epidural" instrument, thetranslational and rotational movements of the catheter will be trackedas just described, except that the translation section 727 and actuatorsection 726 will be used. The translational motion of the "needle" willbe handled by translation section 725 and actuator 724 as describedabove for the case wherein a catheter is inserted through aperture 714.

To this point, the majority of the discussion has been under theassumption that the transducers are input transducers, ie., thehuman/computer interface device is used an input device to the computer106. However, it is also been mentioned that the interface device 102can serve as an output device for the computer 106. When used as anoutput device, output transducers ("actuators") are used to respond toelectrical signals developed by the computer 106 to impart a force uponthe shaft 118 of catheter 108. This can provide useful movement andforce (haptic) feedback to the doctor/trainee or other user. Forexample, if the catheter encounters a heavily occluded vessel in the"virtual" patient, a force can be generated by actuator 748 making itharder for the doctor/trainee to push the shaft 118 further into thegimbal apparatus 700. Likewise, twisting motions can be imparted on theshaft 118 when the shaft encounters an obstacle within the virtualpatient.

It should be noted that force applied to the shaft may not result in anymovement of the shaft. This is because the shaft may be inhibited frommovement by the hand of the operator who is grasping a handle or gripportion of the shaft. However, the force applied to the shaft may besensed by the operator as haptic feedback.

With reference to FIG. 7, a method for mechanically interfacing anelongated mechanical object with an electrical system in accordance withthe present invention includes first step of defining an origin in3-dimensional space. This corresponds to the origin O at theintersection of axes A₁ and A₂. A second step is to physically constrainan elongated object in the 3-dimensional space such that a portion ofthe object always intersects the origin O and such that a portion of theobject extending from the origin O defines a radius in a sphericalcoordinate system. The elongated object (such as shaft 118 of catheter108) is physically constrained in a 3-dimensional space by the aperture714 of the object receiving portion 702. The portion of the shaft 118extending from origin O defines the radius. A third step includestransducing a first electrical signal related to a first angularcoordinate of the radius with a first transducer. This corresponds tothe operation of transducer 744 which transduces a first electricalsignal related to a first angular coordinate of the radius. A fourthstep is transducing a second electrical signal related to a secondangular coordinate of the radius. This corresponds to the operation oftransducer 746 which transduces a second electrical signal. A fifth stepis to transduce a third electrical signal related to the length of theradius, which corresponds to the operation of transducers 756 and/or762. A sixth and final step is to electrically couple the transducers toan electrical system which, in this instance, is preferably a computer106. An additional step transduces a fourth electrical signal related toa rotation of the object around an object axis which intersects theorigin O. This step corresponds to the operation of rotation transducer768. The transducers can be input transducers, output transducers, orbi-directional transducers.

It will be noted that the electrical system most frequently described inthe present invention is a digital processing system or a computer.However, other digital systems, analog systems, and simple electric orelectromechanical system can also be utilized with the apparatus andmethod of the present invention.

It will also be noted that while specific examples of "elongatedobjects" and "shafts" have been given, these examples are not meant tobe limiting. In general, equivalents of "elongated objects", "elongatedcylindrical objects", "shafts" and the like, include any object whichcan be grasped by a human operator to provide an interface between theoperator and a computer system. By "grasp", it is meant that operatorsmay releasably engage a grip portion of the object in some fashion, suchas by hand, with their fingertips, or even orally in the case ofhandicapped persons. The "grip" can be a functional grip or handleattached to an elongated portion of the object, or the grip can be aportion of the object itself (i.e., the shaft, wire or catheter), suchas a portion of the length of a shaft that can be gripped and/ormanipulated by the operator.

It should also be noted that flexible shafts, such as wires orcatheters, do not always require three or four degrees of freedom. Forexample, if a human/computer interface for a catheter insertion virtualreality system is desired, only a translation interface and a rotationinterface such as illustrated in FIG. 2 may be required. This is becausea catheter can be moved in and out of a virtual patient (as sensed bytranslation interface 725) and can be twisted or rotated (as sensed byrotation interface 768), but cannot be, in any practical manner, movedup or down or from side-to-side due to the environmental constraintsoperating on the catheter. In such applications, therefore, it isdesirable to have a human/computer interface with only two degrees offreedom. However, in some instances it is preferable to allow two extradegrees of freedom, such as those provided by gimbal apparatus 700, tofix an angle in three dimensions; thereby, creating a more difficult,and realistic, scenario for the operator/trainee.

While this invention has been described in terms of several preferredembodiments, it is contemplated that alternatives, modifications,permutations and equivalents thereof will become apparent to thoseskilled in the art upon a reading of the specification and study of thedrawings. It is therefore intended that the following appended claimsinclude all such alternatives, modifications, permutations andequivalents as fall within the true spirit and scope of the presentinvention.

What is claimed:
 1. A control input device for interfacing the motion ofan elongated flexible object capable of translation and rotation with acomputer system, comprising:a) an object receiving portion engaging saidelongated flexible object such that motion of said elongated flexibleobject with respect to said object receiving portion is constrained totranslational motion with respect to said object receiving portion androtational motion with respect to said object receiving portion; b) atranslation transducer coupled to said object receiving portion, saidtranslation transducer adapted to determine translational motion of saidelongated flexible object with respect to said object receiving portion;c) a rotation transducer coupled to said object receiving portion, saidrotation transducer adapted to determine rotational motion of saidelongated flexible object with respect to said object receiving portion;d) an actuator coupled to said object receiving portion, said actuatoroperable to apply a resistive force opposing motion of said elongatedflexible object with respect to said object receiving portion, saidactuator responsive to control signals from said computer system; and e)a simulation executed on said computer system including a simulatedobject subject to virtual forces within a simulated environment, alocation of said simulated object within said simulated environmentbeing modified in accordance with signals derived from said translationtransducer and said rotation transducer, said simulation operable tocontrol said actuator such that forces applied to said elongated objectcorrespond to said virtual forces that said simulated object issubjected to in said simulated environment, whereby said translationtransducer, said rotation transducer, said actuator and said objectreceiving portion provide an electromechanical interface between saidelongated flexible object and said computer system such that a usermanipulating said elongated object will experience an interactioncorresponding to an interaction of said simulated object with saidsimulated environment.
 2. A control input device as recited in claim 1,further comprising:a) a support; and b) a gimbal mechanism having a basewherein a first portion of said base is rotatably coupled to saidsupport, and a second portion of said base is rotatably coupled to saidobject receiving portion such that the directions of rotation of saidbase and said object receiving portion are substantially orthogonal. 3.A control input device as recited in claim 2 wherein said gimbalmechanism further includes first and second rotational sensors, saidfirst rotational sensor arranged to sense a rotation of said base withrespect to said support and said second rotational sensor arranged tosense a rotation of said base with respect to said object receivingportion.
 4. A control input device as recited in claim 1, wherein saidtranslation transducer comprises a sensor wheel in frictional contactwith said elongated flexible object.
 5. A control input device asrecited in claim 4, wherein said translation transducer includes anoptical encoder.
 6. A control input device as recited in claim 4,wherein said translation transducer includes a potentiometer.
 7. Acontrol input device as recited in claim 1 further including a firstelectronically modulated actuator coupled to said object receivingportion, said first electronically modulated actuator adapted to engagesaid elongated flexible object.
 8. A control input device as recited inclaim 7, wherein said first electronically modulated actuator isoperable to generate frictional drag on said elongated flexible objectin response to an electrical signal, said frictional drag resistingtransitional motion of said object with respect to said object receivingportion.
 9. A control input device as recited in claim 8, wherein saidfirst electronically modulated actuator is a solenoid.
 10. A controlinput device as recited in claim 8, wherein said first electronicallymodulated actuator is a motor.
 11. A control input device as recited inclaim 1 wherein said rotation transducer comprises an encoded disk, saidencoded disk formed such that an aperture exists at a geometric centerof said encoded disk, said aperture arranged to receive and engage saidelongated flexible object such that a rotation of said flexibleelongated object causes rotation of said encoded disk about saidgeometric center.
 12. A control input device as recited in claim 11further comprising a hollow shaft coupled to said encoded disk, saidhollow shaft being arranged to engagedly receive said elongated flexibleobject.
 13. A control input device as recited in claim 12, wherein saidhollow shaft defines a path for said elongated flexible object includingat least one bend therein, said bend having a radius defined to enhancean engagement between said elongated flexible object and said hollowshaft.
 14. A control input device as recited in claim 13 wherein saidhollow shaft is formed having two bends in substantially opposingdirections.
 15. A control input device as recited in claim 11 whereinsaid aperture is keyed.
 16. A control input device as recited in claim11 wherein said elongated flexible object has a flat portion.
 17. Acontrol input device as recited in claim 11 wherein a first end of ahollow shaft is rigidly fixed to said encoded disk at said geometriccenter, said hollow shaft arranged to secure said flexible object andfurther to guide said flexible object through said aperture of saidencoded disk.
 18. A control input device as recited in claim 17 whereinsaid flexible object is allowed to buckle to accommodate translation ofa free end of said flexible elongated object with respect to said firstend of said hollow shaft which is fixed to said encoded disk.
 19. Acontrol input device as recited in claim 1 further including asimulation executed on said computer system including a simulated objectwithin a simulated environment, a location of said simulated objectwithin said simulated environment being modified in accordance withsignals derived from said translation transducer.
 20. A control inputdevice as recited in claim 19 wherein said simulated object is displayedgraphically on a video display.
 21. A control input device as recited inclaim 20 wherein said simulated object is a medical instrument.
 22. Acontrol input device as recited in claim 21 wherein said medicalinstrument includes a catheter.
 23. A control input device as recited inclaim 21 wherein said medical instrument includes a needle.
 24. Acontrol input device as recited in claim 20, wherein said simulatedobject represents a medical instrument and said simulated environmentrepresents biological tissue, said actuator operable to generateresistance on said flexible elongated object in response to a commandfrom said computer system in accordance with a simulated interactionbetween said medical instrument and said representation of biologicaltissue.
 25. A control input device as recited in claim 12 wherein saidmedical instrument includes a catheter and said representation ofbiological tissue includes a vascular organ such as a vein or andartery.
 26. A control input device as recited in claim 1 wherein saidrotation transducer is engaged by a frictional contact with saidelongated flexible object.
 27. A control input device as recited inclaim 1 wherein said object receiving portion is mounted substantiallyinside a model of a human body.
 28. A control input device forinterfacing the motion of a human manipulated elongated flexible object,said control input device operable for providing force feedbacksensations to a user manipulating said elongated flexible object,comprising:a) a support; b) an object receiving portion engaging saidelongated flexible object such that rotational and translational motionof said elongated flexible object with respect to said object receivingportion is possible; c) a gimbal mechanism coupling said support to saidobject receiving portion, said gimbal mechanism providing two rotarydegrees of freedom of motion of said object receiving portion withrespect to said support; d) an actuator coupled to said object receivingportion, said actuator adapted to engage said elongated flexible object,said actuator operable to apply a resistive force opposing motion ofsaid elongated flexible object, said actuator responsive to controlsignals from said computer system; e) a translation transducer coupledto said object receiving portion, said translation transducer adapted todetermine translational motion of said elongated flexible object withrespect to said object receiving portion, said translation transducerelectrically coupled with said computer system; and f) a rotationtransducer coupled to said object receiving portion to determinerotational motion of said elongated flexible object, said rotationtransducer including an encoded disk having an aperture adapted toreceive said elongated flexible object, said rotation transducerelectrically coupled with said computer system; whereby said support,said gimbal mechanism, said object receiving portion, said actuator andsaid translation and rotation transducers provide an electromechanicalinterface between said human manipulated elongated flexible object andsaid computer system, said electromechanical interface enabling softwareexecuting on said computer system to monitor motion of said elongatedflexible object engaged with said object receiving portion in fourdegrees of freedom with respect to said support and further enablingsaid software to command force feedback sensations to said user throughsaid elongated flexible object.
 29. A control input device as recited inclaim 30, wherein said hollow shaft comprises two bends in substantiallyopposing directions and three substantially parallel sections.
 30. Acontrol input device as recited in claim 28, wherein said rotationtransducer further includes a hollow shaft dimensioned to engagablyreceive said elongated flexible object, said hollow shaft formed suchthat said hollow shaft defines a path having at least one bend.
 31. Acontrol input device as recited in claim 30, wherein:a) said actuatorprovides a frictional resistance to motion in the direction oftranslation of said elongated flexible object in response to electricalsignals from computer system; b) said translation transducer sensespositions of said elongated flexible object along the direction oftranslation and produces electrical signals corresponding to saidpositions for said computer system; and c) said rotation transducersenses positions of said elongated flexible object along the directionof rotation of said elongated flexible object and produces electricalsignals corresponding to said positions for said computer system.
 32. Acontrol input device as recited in claim 31, wherein said rotationtransducer has an axis of rotation which is substantially parallel tosaid direction of translation, and said rotation transducer is coupledto a rotational position sensor which provides, at least in part,electrical signals for said computer system.
 33. A control input deviceas recited in claim 31 wherein said translation transducer is a firsttranslation transducer and said actuator is a first actuator, saidapparatus further including:a) a second actuator coupled to saidsupport, said second actuator adapted to engage said elongated flexibleobject; and b) a second translation transducer coupled to said support,said second translation transducer adapted to determine motion of saidelongated flexible object along the direction of translation of saidelongated flexible object; wherein said second actuator and said secondtranslation transducer are disposed between said first actuator, saidfirst translation transducer and said rotation transducer.
 34. A controlinput device as recited in claim 30, wherein said actuator is a solenoidand said translation transducer includes a translation wheel having atranslation wheel axis that is substantially perpendicular to thedirection of translation of said elongated flexible object, saidtranslation wheel contacting a surface of said elongated flexible objectsuch that translation of said object causes rotation of said wheel. 35.A control input device as recited in claim 34, wherein said translationwheel is coupled to a rotational position sensor which provides, atleast in part, electrical signals for said computer system.
 36. Ahuman/computer interface control input device, comprising:a) a shaftreceiving portion; b) a support attached to said shaft receiving portionsuch that motion of said shaft receiving portion with respect to saidsupport is constrained to at most two degrees of freedom; c) anelongated, flexible shaft engaged with said shaft receiving portion suchthat motion of said flexible shaft with respect to said support isconstrained to at most four degrees of freedom, said flexible shafthaving a grip area to be grasped by the hand of an operator; d) a firstsensor coupled to said shaft receiving portion and engaging said shaftat a first intermediate portion of said shaft to detect translationalmovement of said shaft relative to said shaft receiving portion withoutcausing substantial translational motion of said shaft receivingportion, said first sensor having a first output; e) a second sensorcoupled to said shaft receiving portion and engaging said shaft at asecond intermediate portion of said shaft to detect rotational movementof said shaft relative to said shaft receiving portion, said secondsensor including an encoded disk having an aperture dimensioned toreceive said elongated flexible shaft, and f) a force feedback devicecoupled to said shaft receiving portion and said elongated flexibleshaft, said force feedback device operable to resist motion of saidelongated flexible shaft, whereby said shaft receiving portion, saidfirst sensor, said second sensor, and said force feedback device providean electromechanical interface suitable for controlling said elongatedflexible shaft in a manner suitable for an intended operation of saidelongated flexible shaft.
 37. A control input device as recited in claim36 wherein said flexible shaft is selected from the group consisting ofwires and catheters.
 38. A control input device as recited in claim 36,wherein said shaft receiving portion comprises at least twosubstantially parallel sections.
 39. A control input device as recitedin claim 36, wherein said shaft receiving portion comprises two bends insubstantially opposing directions and three substantially parallelsections.
 40. A human/computer interface control input device as recitedin claim 36 wherein said second sensor further includes a hollow shaftcoupled with said encoded disk, said hollow shaft being dimensioned toengagedly receive said elongated flexible shaft.
 41. A human/computerinterface control input device as recited in claim 40 wherein saidhollow shaft is formed to define a path having at least one bendtherein.
 42. A control input device for interfacing the motion of aplurality of elongated flexible objects capable of translation androtation with a computer system, comprising:a) an object receivingportion engaging a particular elongated flexible object such that motionof said particular elongated flexible object with respect to said objectreceiving portion is constrained to translational motion with respect tosaid object receiving portion and rotational motion with respect to saidobject receiving portion; b) a translation transducer coupled to saidobject receiving portion, said translation transducer adapted todetermine translational motion of said particular elongated flexibleobject with respect to said object receiving portion; c) a plurality oftransducers arranged to interface with said plurality of flexibleelongated objects at least one of which is hollow thereby enabling asecond flexible elongated object to pass therethrough, said plurality oftransducers being staggered at incremental distances from one anothersuch that said plurality of transducers may engage interior flexibleelongated objects when said interior flexible elongated objects emergefrom within other flexible elongated objects; and d) an actuator coupledto said particular object receiving portion, said actuator operable toapply a resistive force opposing motion of said particular elongatedflexible object with respect to said object receiving portion, saidactuator responsive to control signals from said computer system; e) asimulation executed on said computer system including a simulated objectsubject to virtual forces within a simulated environment, a location ofsaid simulated object within said simulated environment being modifiedin accordance with signals derived from said translation transducer andsaid plurality of transducers, said simulation operable to control saidactuator such that forces applied to said elongated object correspond tosaid virtual forces that said simulated object is subjected to in saidsimulated environment whereby said object receiving portion, saidtranslation transducer, and said plurality of transducers arranged tointerface with a plurality of elongated objects provide anelectromechanical interface controlling said elongated flexible objectsuch that said motion of said elongated object is suitable forinterfacing with said computer system.
 43. A control input device asrecited in claim 42 wherein said plurality of transducers comprisesensored wheels in frictional contact with said elongated flexibleobjects.
 44. An apparatus as recited in claim 42 wherein, said actuatoris one of a multiplicity of electronically modulated actuators coupledto said object receiving portion, each of said actuators adapted toengage the outer surface of one of said plurality of flexible elongatedobjects, a first of said actuators being positioned to engage an outersurface of an outermost flexible elongated object, each remaining one ofsaid plurality of actuators being staggered at incremental distancesfrom one another such that said plurality of actuators may engage aninterior flexible elongated object when said interior flexible objectemerges from within another flexible elongated object.
 45. A controlinput device as recited in claim 44, wherein said actuators generatefrictional drag on said plurality of elongated flexible object inresponse to electrical signals, said frictional drag being resistant totransitional motion of said object with respect to said object receivingportion.
 46. A control input device as recited in claim 42 wherein saidplurality of flexible elongated objects represent medical tools.
 47. Acontrol input device as recited in claim 46 wherein said medical toolsare catheters.
 48. A control input device as recited in claim 42 whereinan outermost flexible elongated object represents a needle and aninterior flexible elongated object represents a catheter.
 49. A controlinput device for interfacing the motion of an elongated flexible objectcapable of translation and rotation with a computer system,comprising:a) an object receiving portion; and b) a rotation transducercoupled to said object receiving portion, said translation transduceradapted to determine rotational motion of said elongated flexible objectwithout causing substantial rotational motion of said object receivingportion; whereby said rotation transducer provides an electromechanicalinterface between said elongated flexible object and said computersystem.
 50. A control input device as recited in claim 49, wherein saidrotation transducer comprises a disk, said disk including an aperturedimensioned to receive said elongated flexible object; and a hollowshaft coupled with said disk, said hollow shaft being dimensioned toengagedly receive said elongated flexible object, and said hollow shaftdefining a path including at least one bend therein.
 51. A control inputdevice as recited in claim 50, wherein said hollow shaft comprises atleast two substantially parallel sections.
 52. A control input device asrecited in claim 50, wherein said hollow shaft comprises two bends insubstantially opposing directions and three substantially parallelsections.
 53. A control input device as recited in claim 50 furtherincluding an actuator coupled to said object receiving portion, saidactuator adapted to engage said elongated flexible object.
 54. A controlinput device as recited in claim 53, further including a translationtransducer coupled to said object receiving portion, said translationtransducer adapted to determine translational motion of said elongatedflexible object.
 55. A control input device as recited in claim 54,wherein said electrical system comprises a digital processing system.56. A control input device as recited in claim 55, wherein:a) saidactuator provides a force to said elongated flexible object in responseto electrical signals from said digital processing system, said forcebeing applied in a direction substantially perpendicular to thedirection of translation of said elongated flexible object; b) saidtranslation transducer senses positions of said elongated flexibleobject along the direction of translation of said elongated flexibleobject and produces electrical signals corresponding to said positionsfor said digital processing system; and c) said rotation transducersenses positions of said elongated flexible object along the directionof rotation of said elongated flexible object and produces electricalsignals corresponding to said positions for said digital processingsystem.
 57. A control input device for interfacing the motion of a humanmanipulated elongated flexible object having at least first and seconddegrees of freedom with an electrical system, comprising:a) a support;b) a gimbal mechanism having a base wherein a first portion of said baseis rotatably coupled to said support and a second portion of said baseis rotatably coupled to an object receiving portion such that said basecan be rotated in a first direction relative to said support and saidobject receiving portion can be rotated in a second direction relativeto said base; c) an actuator coupled to said object receiving portion,said actuator adapted to engage said elongated flexible object; d) atranslation transducer coupled to said object receiving portion, saidtranslation transducer adapted to determine translational motion of saidelongated flexible object without causing substantial translationalmotion of said object receiving portion; e) a rotation transducercoupled to said object receiving portion to determine rotational motionof said elongated flexible object, said rotation transducer including:i)a disk, said disk including an aperture adapted to receive saidelongated flexible object, and ii) a hollow shaft coupled with saiddisk, said hollow shaft being dimensioned to engagedly receive saidelongated flexible object, and said hollow shaft defining a pathincluding at least one bend therein;whereby said actuator and saidtranslation and rotation transducers provide an electromechanicalinterface between a human manipulated elongated wire-like object andsaid electrical system.
 58. A control input device as recited in claim57, wherein said hollow shaft comprises at least two substantiallyparallel sections.
 59. A control input device as recited in claim 57,wherein said hollow shaft comprises two bends in substantially opposingdirections and three substantially parallel sections.
 60. A controlinput device as recited in claim 57, wherein said electrical systemcomprises a digital processing system.
 61. A control input device asrecited in claim 60, wherein:a) said actuator provides a forceperpendicular to the direction of translation of said elongated flexibleobject in response to electrical signals from said digital processingsystem; b) said translation transducer senses positions of saidelongated flexible object along the direction of translation andproduces electrical signals corresponding to said positions for saiddigital processing system; and c) said rotation transducer sensespositions of said elongated flexible object along the direction ofrotation of said elongated flexible object and produces electricalsignals corresponding to said positions for said digital processingsystem.
 62. A human/computer interface apparatus, comprising:a) a shaftreceiving portion; b) an elongated, flexible shaft engaged with saidshaft receiving portion, said flexible shaft having a grip area to begrasped by the hand of an operator; c) a first sensor coupled to saidshaft receiving portion at a first intermediate portion of said shaft todetect translational movement of said shaft relative to said shaftreceiving portion without causing substantial translational motion ofsaid shaft receiving portion, said first sensor having a first output;and d) a second sensor coupled to said shaft receiving portion at asecond intermediate portion of said shaft receiving portion to detectrotational movement of said shaft relative to said shaft receivingportion, said second sensor including:i) a disk, said disk including anaperture dimensioned to receive said elongated flexible shaft, and ii) ahollow shaft coupled with said disk, said hollow shaft being dimensionedto engagedly receive said elongated flexible shaft, said hollow shaftdefining a path including at least one bend therein.
 63. A control inputdevice as recited in claim 62, further comprising a first actuatorcoupled to said shaft receiving portion to impart a translational forceon said shaft.
 64. A control input device as recited in claim 62 whereinsaid flexible shaft is selected from the group consisting of wires andcatheters.
 65. A control input device as recited in claim 62, whereinsaid hollow shaft comprises at least two substantially parallelsections.
 66. A control input device as recited in claim 62, whereinsaid hollow shaft comprises two bends in substantially opposingdirections and three substantially parallel sections.